pathutils.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2009 Alex Brooks, Alexei Makarenko, Tobias Kaupp
 *
 * This copy of Orca is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */
 
#ifndef PATH_UTILS_H
#define PATH_UTILS_H

#include <gbxutilacfr/mathdefs.h>
#include <QPointF>
#include <vector>
#include <string>

class QPainter;
class QColor;

namespace hydroqguipath {

const int QT_ANGLE_MULTIPLIER = 16;    
    
//
// Internal Gui representation for waypoint and path
// Author: Tobias Kaupp 
//
class GuiWaypoint
{
public:
    GuiWaypoint()
    : position(QPointF(0.0,0.0)), 
      heading(0), 
      timeTarget(0.0), 
      distanceTolerance(0.0), 
      headingTolerance(0),
      maxSpeed(0.0),
      maxTurnrate(0)
    {}
    
    QPointF position;           // in m
    int     heading;            // in 1/16 deg from 0 to 360*16
    float   timeTarget;         // number of seconds until arrival at waypoint
    float   distanceTolerance;  // distance tolerances in m
    int     headingTolerance;   // heading tolerances in 1/16 deg from 0 to 360*16
    float   maxSpeed;           // max speed in m/s
    int     maxTurnrate;        // max turnrate in deg/s
};

typedef std::vector<GuiWaypoint> GuiPath;

//
// Tolerances and other parameters of waypoint
// The units are the same as above
//
class WaypointSettings
{
    public:
        WaypointSettings() {};
        WaypointSettings(std::string a, float b, float c, int d, float e, int f):
            spacingProperty(a), 
            spacingValue(b), 
            distanceTolerance(c), 
            headingTolerance(d), 
            maxApproachSpeed(e), 
            maxApproachTurnrate(f)
            {}
        std::string spacingProperty;
        float spacingValue;
        float distanceTolerance;
        int headingTolerance;
        float maxApproachSpeed;
        int maxApproachTurnrate;
};

// Compute straight line distance of two points in [m]   
float straightLineDist( QPointF line );

// Draws one of guiPath's waypoints given a painter
void drawWaypoint( QPainter *painter,
                   const GuiPath &guiPath,
                   int index,
                   const QColor &fillColor,
                   const QColor &drawColor );

// Draws connections between waypoints of guiPath given a painter
// Starts at wp with startIndex and finishes at wp with endIndex
void drawWpConnections( QPainter *painter,
                        const GuiPath &guiPath,
                        const QColor &color,
                        int startIndex,
                        int endIndex );

}

#endif